Table 25: TD3+BC, IQL and ReBRAC Expected Online Performance under uniform policy selection on HalfCheetah tasks.
random	medium	expert	medium-expert	medium-replay	full-replay
Policies	TD3+BC	IQL	ReBRAC	TD3+BC	IQL	ReBRAC	TD3+BC	IQL	ReBRAC	TD3+BC	IQL	ReBRAC	TD3+BC	IQL	ReBRAC	TD3+BC	IQL	ReBRAC
1	14.6 ± 9.3	10.2 ± 6.8	17.6 ± 8.2	48.0 ± 5.8	48.0 ± 1.3	56.1 ± 6.3	59.5 ± 40.5	93.9 ± 4.2	90.7 ± 21.5	68.1 ± 31.4	87.7 ± 5.5	97.7 ± 6.8	34.7 ± 14.2	43.4 ± 1.3	47.7 ± 3.0	67.7 ± 12.5	73.1 ± 1.9	78.7 ± 3.3
2	19.8 ± 8.0	14.1 ± 5.9	22.2 ± 7.0	51.1 ± 5.4	48.8 ± 1.1	59.6 ± 5.8	80.4 ± 28.1	95.6 ± 1.5	100.8 ± 11.4	83.7 ± 18.1	90.8 ± 3.7	101.2 ± 3.8	41.5 ± 7.7	44.2 ± 0.8	49.4 ± 2.6	73.8 ± 7.0	74.1 ± 1.1	80.5 ± 2.6
3	22.8 ± 7.5	18.0 ± 6.9	22.9 ± 7.0	49.1 ± 6.8	47.1 ± 1.3	61.6 ± 5.2	88.2 ± 28.2	96.9 ± 1.5	103.1 ± 10.3	88.5 ± 10.3	102.1 ± 10.2	93.6 ± 10.2	43.6 ± 4.8	47.6 ± 0.8	75.8 ± 7.4	74.8 ± 1.1	80.0 ± 2.2	82.2 ± 1.3
4	24.2 ± 5.7	17.2 ± 3.6	26.1 ± 4.9	54.0 ± 4.7	49.4 ± 0.7	62.8 ± 4.2	91.3 ± 11.5	96.2 ± 0.5	104.7 ± 3.5	90.3 ± 5.9	92.7 ± 2.2	102.9 ± 1.9	44.5 ± 2.6	46.6 ± 0.4	50.8 ± 1.6	76.7 ± 3.1	74.7 ± 0.7	81.9 ± 1.6
5	25.3 ± 4.8	17.9 ± 2.8	27.0 ± 4.1	54.9 ± 4.3	49.5 ± 0.6	63.6 ± 3.5	92.7 ± 7.3	96.3 ± 0.4	105.2 ± 2.5	91.0 ± 3.6	93.2 ± 1.8	103.3 ± 1.6	44.9 ± 1.8	44.6 ± 0.4	51.1 ± 1.3	77.3 ± 2.5	74.9 ± 0.6	82.2 ± 1.2
6	27.5 ± 4.7	18.2 ± 3.5	27.7 ± 3.4	49.6 ± 3.6	47.6 ± 1.3	64.1 ± 3.9	92.7 ± 7.3	96.5 ± 0.5	105.6 ± 2.1	105.2 ± 2.1	103.5 ± 1.5	103.5 ± 1.5	44.5 ± 1.5	44.5 ± 0.1	51.3 ± 1.1	75.0 ± 1.5	82.2 ± 1.2	82.2 ± 1.2
7	-	18.7 ± 1.8	28.1 ± 2.9	49.7 ± 0.5	49.7 ± 0.5	64.3 ± 2.6	-	96.4 ± 0.3	105.9 ± 1.9	-	93.7 ± 1.3	103.7 ± 1.4	-	44.8 ± 0.3	51.4 ± 0.9	-	75.0 ± 0.5	-
8	-	18.9 ± 1.5	28.5 ± 2.5	49.7 ± 0.4	49.7 ± 0.4	64.8 ± 2.3	-	96.4 ± 0.3	106.1 ± 1.7	-	93.8 ± 1.1	103.9 ± 1.4	-	44.8 ± 0.2	51.5 ± 0.7	-	75.1 ± 0.5	-
9	-	19.0 ± 1.2	28.7 ± 2.1	49.8 ± 0.4	49.8 ± 0.4	65.0 ± 2.0	-	96.5 ± 0.2	106.6 ± 1.6	-	93.9 ± 0.9	104.3 ± 1.3	-	44.8 ± 0.2	51.5 ± 0.7	-	75.0 ± 0.5	-
10	-	19.1 ± 1.1	28.9 ± 1.8	49.8 ± 0.4	49.8 ± 0.4	65.2 ± 1.7	-	96.5 ± 0.2	106.4 ± 1.5	-	94.0 ± 0.9	104.1 ± 1.3	-	44.8 ± 0.2	51.6 ± 0.6	-	75.2 ± 0.4	-
11	-	19.2 ± 0.9	29.0 ± 1.6	49.9 ± 0.4	49.9 ± 0.4	65.3 ± 1.5	-	96.5 ± 0.2	106.6 ± 1.3	-	94.1 ± 0.8	104.2 ± 1.3	-	44.8 ± 0.2	51.7 ± 0.6	-	75.2 ± 0.4	-
12	-	19.3 ± 0.9	29.4 ± 1.4	49.9 ± 0.4	49.9 ± 0.4	65.4 ± 1.4	-	96.5 ± 0.2	106.7 ± 1.2	-	94.2 ± 0.5	104.3 ± 1.3	-	44.9 ± 0.2	51.5 ± 0.5	-	75.2 ± 0.4	-
13	-	19.3 ± 0.7	29.2 ± 1.2	49.9 ± 0.3	49.9 ± 0.3	65.3 ± 1.1	-	96.5 ± 0.2	106.8 ± 1.1	-	94.2 ± 0.7	104.4 ± 1.3	-	44.9 ± 0.2	51.7 ± 0.5	-	75.3 ± 0.4	-
14	-	19.4 ± 0.6	29.3 ± 1.1	49.9 ± 0.3	49.9 ± 0.3	65.5 ± 1.0	-	96.5 ± 0.2	106.8 ± 1.1	-	94.3 ± 0.6	104.4 ± 1.2	-	44.9 ± 0.1	51.8 ± 0.5	-	75.3 ± 0.3	-
15	-	19.5 ± 0.8	29.5 ± 1.8	49.9 ± 0.3	49.9 ± 0.3	65.6 ± 0.8	-	96.5 ± 0.1	106.6 ± 1.0	-	94.5 ± 0.5	104.5 ± 1.2	-	44.9 ± 0.1	51.5 ± 0.5	-	75.3 ± 0.3	-
16	-	19.5 ± 0.5	29.4 ± 0.9	-	50.0 ± 0.3	65.6 ± 0.8	-	96.5 ± 0.1	107.0 ± 0.9	-	94.4 ± 0.5	104.6 ± 1.2	-	44.9 ± 0.1	51.8 ± 0.5	-	75.3 ± 0.3	-
17	-	19.5 ± 0.4	29.5 ± 0.9	-	50.0 ± 0.3	65.7 ± 0.7	-	96.6 ± 0.1	107.0 ± 0.8	-	94.4 ± 0.5	104.6 ± 1.2	-	44.9 ± 0.1	51.9 ± 0.5	-	75.3 ± 0.3	-
18	-	19.5 ± 0.3	29.6 ± 0.8	-	50.0 ± 0.3	65.7 ± 0.6	-	96.6 ± 0.1	107.0 ± 0.8	-	94.4 ± 0.5	104.6 ± 1.2	-	44.9 ± 0.1	51.5 ± 0.5	-	75.3 ± 0.3	-
19	-	19.5 ± 0.4	29.6 ± 0.8	-	50.0 ± 0.3	65.7 ± 0.5	-	96.6 ± 0.1	107.1 ± 0.7	-	94.4 ± 0.5	104.7 ± 1.1	-	44.9 ± 0.1	51.9 ± 0.4	-	75.3 ± 0.3	-
20	-	19.5 ± 0.3	29.6 ± 0.7	-	50.0 ± 0.3	65.7 ± 0.5	-	96.6 ± 0.1	107.1 ± 0.7	-	94.5 ± 0.4	104.8 ± 1.1	-	44.9 ± 0.1	51.9 ± 0.4	-	75.4 ± 0.3	-